EP0250993B1 - Méthode et appareil pour déterminer et représenter la forme de dents (d'une dent ) taillée(s) en trois dimensions. - Google Patents

Méthode et appareil pour déterminer et représenter la forme de dents (d'une dent ) taillée(s) en trois dimensions. Download PDF

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Publication number
EP0250993B1
EP0250993B1 EP87108531A EP87108531A EP0250993B1 EP 0250993 B1 EP0250993 B1 EP 0250993B1 EP 87108531 A EP87108531 A EP 87108531A EP 87108531 A EP87108531 A EP 87108531A EP 0250993 B1 EP0250993 B1 EP 0250993B1
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Prior art keywords
image
contrast
pattern
reference pattern
values
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EP87108531A
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German (de)
English (en)
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EP0250993A3 (en
EP0250993A2 (fr
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Marco Dr. Brandestini
Werner H. Dr.med.dent. Mörmann
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Individual
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C9/00—Impression cups, i.e. impression trays; Impression methods
    • A61C9/004—Means or methods for taking digitized impressions
    • A61C9/0046—Data acquisition means or methods
    • A61C9/0053—Optical means or methods, e.g. scanning the teeth by a laser or light beam
    • A61C9/006—Optical means or methods, e.g. scanning the teeth by a laser or light beam projecting one or more stripes or patterns on the teeth
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture

Definitions

  • the invention relates to a method for the spatial recording and representation of teeth or their preparations and their immediate vicinity by means of a camera for the acquisition of three-dimensional data for the production of a fitting body, and a device for carrying out this method.
  • Such procedures are used in the following situation:
  • the dentist prepares a carious tooth in such a way that its shape and function can be restored using an inlay (inlay, onlay) or a crown. After the appropriate preparation has been carried out on the affected tooth, the problem of the exact, three-dimensional measurement of the preparation, including its immediate surroundings, arises.
  • the recording on the screen is supplemented in order to finally produce the desired reconstruction using a numerically controlled machine tool.
  • the spatial measurement can only be carried out under certain conditions, especially when the camera is correctly aligned with the prepared tooth.
  • compliance with these conditions is only ex post, i.e. verifiable after the recording and its evaluation. In the best case, this is associated with a long waiting time or it may even be necessary to have several sessions.
  • the dentist therefore has no direct "feedback" when measuring the spatial shape of the prepared tooth, which makes this process considerably more difficult. If the measurement result is then correctly available, the shape is supplemented in accordance with the above to determine the contours of the desired fitting body. For this purpose, no suitable way of displaying the tooth preparation taken has also been described. Abstract, three-dimensional representations are particularly unsuitable for this because they deviate greatly from the image that the dentist can see visually from the preparation.
  • the method according to the invention is now characterized in that a pseudoplastic video search image is generated to determine the suitable recording position of the camera and that a still image is generated in response to a trigger command in the position corresponding to the last search image, the contrast and depth values corresponding to this still image to each pixel is determined and saved for further image processing.
  • the oral camera is positioned in a search phase in which an undisturbed video image can be displayed on a monitor.
  • the spatial measurement can be carried out by projecting on a reference pattern and triangulation.
  • a pseudoplastic contrast image is also determined, which can also be displayed on the monitor.
  • the system initially works essentially like a conventional video system.
  • the tooth area that appears in the image window; is registered by imaging optics and sensor and can be used with an image frequency of e.g. 50Hz are displayed, which results in a standard television picture.
  • the observed tooth is, however, illuminated by the camera for the purpose of spatial measurement, using a grid-like reference pattern. However, this reference pattern should not also appear on the search image.
  • the first task is to eliminate the disturbing pattern superimposed on the actual image content. How this can be done is explained below with reference to Figures 3 and 4.
  • the search phase is used to find the optimal conditions for the subsequent three-dimensional image. It is important to ensure that the exposure is selected correctly, ie the dynamics of the sensor are fully controlled. A precise fit of the reconstruction can only be guaranteed if all critical parts are already shown during the exposure.
  • the positioning of the camera in the search phase must therefore be selected so that it matches the later insertion axis of the fitting body (inlay, etc.). In the end the camera-to-tooth distance must be set so that it is sharply reproduced overall.
  • the dentist makes all these settings directly on the patient without having to fix them in a rigid position using additional devices - the camera should be brought into the recording position by hand. To make it easier to align the camera in all spatial degrees of freedom, marks are shown in the video search image (window, crosshairs, mm division, etc.).
  • the dentist triggers the actual measurement process, e.g. using a pedal.
  • the reference pattern is projected onto the tooth surface in various spatial positions.
  • the resulting images are saved in a memory. This takes less than 1/5 second in total.
  • the stored information is then transformed; this step also takes less than 1/5 second.
  • the contrast image mentioned serves as the basis for the construction of this interactive process step.
  • the contrast image is far easier for the dentist to interpret than any abstract representation based only on depth data.
  • the contrast image also contains fine lines that characterize cracks, edges and other features.
  • the dentist can, for example, reliably identify a preparation margin running at the level of the gums, which could not be recognized from the relief representation alone.
  • the memory has two superimposed memory levels "A” and “B”. These are organized in such a way that the contrast image that is displayed is on level “A”.
  • the associated depth values (Z coordinates) are stored for each pixel in level "B", which is invisible to the dentist. While the dentist works out graphically reconstructive inputs exclusively on the basis of the pseudoplastic contrast image that is familiar to him, a three-dimensional form is created in level “B", which consists of depth data and the boundary lines entered in level "A” and the basis for the automatic Production of an appropriate fitting body forms.
  • level "A” is equipped with an additional “overlay” level, which represents and also saves the boundary lines entered using a drawing aid (mouse, trackball, etc.).
  • the camera has a housing 1 which, with its outer shape, allows the camera to be inserted into the patient's mouth.
  • a light source 2 is accommodated in the housing, preferably a light-emitting diode LED, which operates in the near infrared range.
  • a mask 4 is illuminated by the LED via a condenser element 3.
  • This mask can either be designed as a classic grid that is moved mechanically.
  • the mask 4 is attached to a bending element 5, by means of which it can be moved perpendicular to the beam path.
  • it can also be designed as a liquid crystal cell, which does not require any moving parts, as will be explained with reference to FIG.
  • the reference pattern is thus projected onto the row of teeth 10 via an objective 8.
  • a two-hole diaphragm 7 and a beam splitter 6 are provided in the beam path, which geometrically separate the light scattered back from the row of teeth 10 from the lighting channel and define the parallax angle, which is crucial for the spatial triangulation method.
  • a telecentric beam path is created via an elongated prism 9 with cemented field lens.
  • An image sensor 11 receives the light scattered back from the teeth and converts it into a line-scanned one Video signal.
  • the control and adaptation networks if not outside the camera, are accommodated on a print 12.
  • the camera is connected to the computer and display unit by a multi-core electrical cable 13.
  • a wide variety of reference patterns are suitable for carrying out the measurement process.
  • a stripe pattern is assumed in which the stripes are each made black (translucent) and half white (translucent).
  • the reference pattern is also periodic.
  • the so-called lattice period defines, analogous to temporal signals, the interval from one transition from black to white to the next such transition as 360 °.
  • a curve 22 is created. This curve is modulated by several factors. In the first place you can see the sinusoidal curve created by the stripe pattern. As already known (US Pat. No. 4,575,805), the depth information lies in the phase. The evaluation of this depth information is explained further below. If an undisturbed video search image is to be generated first, this modulation interferes, which would appear in the search image as a stripe pattern. If an envelope 23 is formed in FIG. 3a, which connects the maxima of curve 22, this curve gives the undisturbed brightness curve. To generate the undisturbed search image, the modulation generated by the projected stripe pattern must be removed so that only the envelope 23 remains. There are two ways to do this:
  • the mask 4 can be removed from the beam path, which was done in the publication "Marginal adaptation of adhesive porcelain inlays in vitro” (Switzerland. Mschr. Zahnmed. 95 1118 1985) by physically removing the grid plate. If, according to FIG. 4, a liquid crystal cell is used as a mask, the removal is carried out electronically.
  • Figure 4 shows a sectional view of a corresponding liquid crystal cell. A cavity is formed between two glass plates 40, 41 in a known manner a likewise known liquid 42 is filled. Other components that come from conventional technology are the polarization filters 43, 44 that are glued on both sides. Depending on the light source used, which works in the near infrared range, both the liquid and the filters are optimized for this wavelength.
  • electrodes A, B, C and D on both sides of the cavity is particularly special in the device described. While electrodes A and B alternate on the left-hand side (A and B are each electrically connected to one another), C and D are arranged analogously on the right-hand side, the left and right pairs being shifted by half an electrode width, as shown in FIG Figure can be seen. Rectangular signals 45 resp. 46 created, which allow to generate the phase shifts belonging to the recording sequence in increments of 90 °. In the case shown, all B electrodes are excited with signal 45, electrodes A, C and D with signal 46. Where electrodes are opposed to each other in phase opposition, the crystals align in the resulting voltage field in such a way that they combine with filters 43, 44 , the light is blocked.
  • the dark areas in the cavity are intended to illustrate this effect. Electrodes facing each other, with the same excitation, leave the liquid crystals in the rest position, i.e. the light comes in unimpeded by cyclically interchanging the control (always one electrode group in opposite phase to the other three), allowing the grid pattern to be shifted in the desired manner without mechanical movements occur.
  • This solution guarantees a precise spatial phase of the reference pattern.
  • the liquid crystal cell which can be built into the camera, makes the entire camera less sensitive to vibrations.
  • the search phase is also elegantly taken into account. If all electrodes are excited with the same phase, or generally, at the same potential, the liquid crystal element is structureless, so it does not throw any annoying stripes on the preparation.
  • the second way to eliminate the reference pattern is to "blur" it.
  • the image sensor 11 works as an integrator, ie the incident light quanta are added up over a certain time (40 ms), and the charge obtained in this way is transferred to a read-out register by a shift command. If the stripe pattern is moved by means of the bending element 5 in such a way that all points on the tooth surface receive the same amount of light per integration period, the disturbing pattern disappears through integration. In practice it is advisable to deflect the grating with a sinusoidal control, its amplitude 2nd times the period of the reference pattern. The image generated in this way is used as an undisturbed video search image in the search phase.
  • the position 25 should e.g. illustrate the case of a "blind" pixel of the sensor 11. Due to impurities and the tight tolerance requirements in semiconductor production, it often happens that individual elements (pixels) but also groups or entire columns give uncontrollable values. Sensors that are free of such errors are usually very expensive. On the other hand, at point 26 there is a glossy spot (reflex) of the tooth or gum which overrides the sensor. This can be so annoying that the dentist recognizes the problem in the search phase and e.g. eliminated by matting. However, the location can also be small locally and still influence the measured values because the dynamics of the sensor or the subsequent analog / digital converter are not sufficient. 3b and 3c will now be used to explain how such errors can be eliminated by generating a contrast image.
  • FIG. 3c shows the difference signal 28 thus formed along the section under consideration, as it now does is in memory.
  • the course of the difference signal 28 is similar to the original curve 22, the amplitude having doubled and the signal becoming bipolar, ie it is moving on both sides of the zero line.
  • the curve 28 obtained by subtraction can also be encompassed by an envelope. In the positive range, this is curve 29, in the negative, curve 30, which runs symmetrically to 29.
  • These curves do not describe the local brightness as in FIG. 3a, but the contrast.
  • the contrast denotes the difference between the brightness appearing at each point with maximum lighting (reference pattern permeable) and the minimum lighting (reference pattern opaque). While the brightness signal of the video search image is falsified by a considerable amount of interference information, the contrast signal contains all data relevant for depth measurement.
  • FIG. 5 The memory and arithmetic unit required to carry out the steps shown in FIG. 3 is shown in FIG. 5.
  • the outer feed and route lines are not shown. These are used by the processor (the central processing unit) to access every point of the memory levels "A" and "B".
  • the arrangement shown diagrammatically offers the following operating states: search phase, recording a brightness image ("A” or “B”), recording with simultaneous formation of differences (“A” or “B”) and transformation to obtain partial and contrast.
  • the brightness signal passes from the image sensor 50 via an analog / digital converter 51 to an adder 52.
  • the channel selected by a multiplexer 53 appears on the second input of the adder, in this operating state zero, as by the earth symbol indicated.
  • the thus unchanged signal is stored in the form "A" 54 by means of a write logic 60 and an address generator 61.
  • the address generator generates horizontal and vertical address signals that control the corresponding memory locations.
  • the image sensor 50 is also read out using similar signals.
  • a synchronization signal 62 is generated, which arrives at a screen 56.
  • the signal continuously read from the memory runs to the screen via a D / A converter 63, so that the memory "A" is displayed continuously. If this memory level is additionally equipped with an "overlay" that can be written by the processor, any marks (crosshairs, mm division, etc.) can be superimposed on the search image.
  • the reference pattern is brought into the first phase position 0 °.
  • the A / D converter supplies the brightness during an image (curve 22, FIG. 3a). As in the search phase, this is written directly into memory level "A”. For the following image interval, the grid has shifted to the 90 ° position and the corresponding brightness values go to storage level "B".
  • the multiplexer still provides zero output.
  • the feedback path is opened, so that the inverted output of level "A" appears at the second input of the adder. In this way, the difference 180 ° - 0 ° is written directly to level "A". This process is described as a "read-modify-write" operation.
  • the address generator now alternately reads a point from level "A” and one from level “B” so that there is always a complex pair at the input on the ROM table unit 57, 58.
  • the contrast which is written into the memory cell just read with the same access.
  • the multiplexer 53 ensures that this time the depth (phase) is written back into the cell of the "B” level. Since this transformation can be carried out directly in the memory, and not via the central processing unit, the contrast image is in the memory after approximately 100 milliseconds, and is therefore displayed on the monitor 56 immediately.
  • the contrast image is thus available as a still image in the manner already explained for the construction of the fit body shape by the dentist. Congruent for this purpose, the depth data are stored, which allow the computer to determine the corresponding spatial shape of the fitting body and thus to control the processing machine mentioned.
  • the described procedure according to the invention makes it possible to carry out the intrinsically complex acquisition and measurement process of the prepared tooth for the purpose of constructing a fitting body.
  • the dentist has only such representations as the basis for his decisions and for the construction of the fitting body, as he knows and knows how to interpret them from conventional dental treatments.
  • This practical representation can be combined with the measurement process directly and without too much computing effort by the procedure according to the invention.
  • the low computing effort enables a workflow under real-time conditions and without interruptions, which would interfere with both the dentist and the patient.
  • the construction of the fitting body can be carried out in a short time by manually completing the shape on the standing contrast image.
  • the computer-aided image processing also evaluates the contrast information by weighting the stored depth data by the contrast.

Claims (14)

1. Procédé pour la prise de vue tridimensionnelle et la représentation de dents ou respectivement de leurs préparations et de leur voisinage immédiat au moyen d'une caméra pour la production de données tridimensionnelles pour la fabrication d'une pièce d'adaptation, un modèle de référence étant projeté pour la production des données de profondeur, caractérisé en ce que, pour déterminer la position de prise de vue appropriée de la caméra, on forme tout d'abord une image de localisation vidéo déplacée et on la visualise sur un moniteur sur lequel n'apparaît pas le modèle de référence projeté et que, sur un ordre de déclenchement en position de prise de vue, une séquence de prise de vue d'images se déroule pour la formation et la mémorisation d'un article qui contient d'une part une information d'image qui correspond à la dernière image de localisation et qui peut être visualisée sur le moniteur sous forme d'une image de contraste en tant que modèle de dessin et qui contient d'autre part des valeurs de profondeur coincidentes pour l'information d'image, de sorte qu'une construction réalisée sur le modèle de dessin définit avec les valeurs de profondeur la pièce d'adaptation en trois dimensions.
2. Procédé selon la revendication 1, caractérisé en ce qu'on représente en tant qu'image fixe les valeurs de contraste, c'est-à-dire les luminosités corrigées d'une fraction de lumière parasite, en chaque point d'image, pour former une représentation pseudo-plastique de la préparation.
3. Procédé selon l'une des revendications précédentes, caractérisé en ce qu'on mélange dans l'image de localisation vidéo des repères fixes par rapport au cadre d'image, qui correspondent à des données d'image mémorisées, de sorte que l'image de localisation vidéo ou respectivement l'article à prendre en vue peut être aligné par rapport aux repères mélangés.
4. Procédé selon l'une des revendications précédentes, caractérisé en ce qu'on utilise l'image fixe comme plan de figure pour la construction de contours de pièce d'adaptation à l'aide de moyens de dessin électroniques, les contours de pièce d'adaptation introduits étant étendus à des données de contour tridimensionnelles sur la base de l'adjonction des points d'image de l'image fixe aux valeurs de profondeur correspondantes.
5. Procédé selon l'une des revendications 2 à 4 précédentes, caractérisé en ce qu'on pondère les valeurs de profondeur à l'aide des valeurs de contraste associées pour le traitement ultérieur, de manière que le poids statistique de chaque valeur de profondeur est dépendant de la grandeur de la valeur de contraste correspondante.
6. Dispositif pour la mise en oeuvre du procédé selon l'une des revendications précédentes, un compteur-calculateur (51-55, 57-63) étant prévu qui détermine, des signaux d'image pris en vue à partir du modèle de référence translatable projeté, les données tridimensionnelles pour la fabrication de la pièce d'adaptation, caractérisé en ce que, pour l'élimination du modèle pour la représentation sans modèle de référence de l'image de localisation vidéo sur le moniteur (56), des moyens (40-44) pour éliminer le modèle de référence de la marche des rayons, ou respectivement des moyens (4, 5, 11) pour l'intégration temporaire de l'image prise en vue sont prévus, et que le compteur-calculateur est réalisé de telle manière que les données tridimensionnelles pour la fabrication de la pièce d'adaptation correspondent respectivement à l'image de localisation vidéo sans modèle de référence représentée en dernier lieu sur le moniteur.
7. Dispositif selon la revendication 6, caractérisé en ce que le compteur-calculateur comprend une unité de calcul (52-55, 57, 58) au moyen de laquelle, sur un ordre de déclenchement, une image de contraste corrigée d'une fraction de lumière parasite, coïncidente à la dernière image de localisation vidéo, peut être formée et mémorisée et peut être représentée sur l'écran (56) en tant qu'image fixe.
8. Dispositif selon la revendication 7, caractérisé en ce que l'unité de calcul (52-55, 57, 58) est réalisée de telle manière que l'image de contraste peut être formée à partir de plusieurs prises de vue se suivant les unes des autres dans le temps avec modèle de référence décalé, afin d'éliminer la lumière diffusée et d'autres parasites, l'image de contraste étant coïncidente à un relief formé à partir des valeurs de profondeur.
9. Dispositif selon l'une des revendications 7 et 8, caractérisé en ce que l'unité de calcul accède à deux étages de mémoire (54, 55) dont les emplacements de mémoire correspondent chacun à un point d'image, l'image de contraste pouvant être mémorisée dans l'un des étages de mémoire et les valeurs de profondeur associées dans l'autre étage de mémoire.
10. Dispositif selon la revendication 9, caractérisé en ce que des moyens pour l'introduction et la mémorisation manuelles de repères fixes par rapport au cadre d'image sont disponibles, qui sont superposés par eux aux plans d'image.
11. Dispositif selon la revendication 9 ou 10, caractérisé en ce qu'un dispositif optique (2-5, 40-44) inséré dans la marche des rayons pour former le modèle de référence en lumière/ombre sur la préparation à prendre en vue et une structure optique (7-9, 11) pour la représentation de celui-ci sur un capteur d'image (11) sont prévus, caractérisé en ce que, au moyen du capteur d'image (11), sur un ordre de déclenchement, respectivement pour une position différente dans l'espace du modèle, une image de luminosité peut être détectée et chaque image de luminosité peut être mémorisée dans un étage de mémoire (54, 55), une paire de valeurs pour chaque point d'image pouvant être formées respectivement à partir des valeurs de luminosité mémorisées, au moyen d'un couplage (50-63) par transformation, dont une des valeurs contient la distance (z) du point d'image à un plan de référence et l'autre valeur l'amplitude de contraste locale.
12. Dispositif selon l'une des revendications 6 à 11, caractérisé en ce que le modèle de référence en lumière/ombre peut être formé au moyen d'un masque (4) disposé mobile dans la marche des rayons, caractérisé en ce que, pour la formation de l'image de localisation vidéo, le masque (4) est mobile en synchronisme avec la fréquence de prise de vue, de sorte que le modèle disparaît par intégration.
13. Dispositif selon l'une des revendications 6 à 11, caractérisé en ce que le modèle de référence en lumière/ombre peut être formé par une cellule à cristaux liquides (40-44) qui est commutée en transparence à la lumière pendant la formation de l'image de localisation vidéo.
14. Dispositif selon la revendication 11 ou 13, le modèle de référence étant formé par une cellule à cristaux liquides, caractérisé en ce que la cellule à cristaux liquides (40-44) présente un modèle d'électrode par lequel le modèle en lumière/ombre peut être décalé de fractions de sa période.
EP87108531A 1986-06-24 1987-06-12 Méthode et appareil pour déterminer et représenter la forme de dents (d'une dent ) taillée(s) en trois dimensions. Expired - Lifetime EP0250993B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT87108531T ATE69369T1 (de) 1986-06-24 1987-06-12 Verfahren und vorrichtung zur bestimmung und darstellung der dreidimensionalen gestalt von praeparierten zaehnen.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH2512/86 1986-06-24
CH2512/86A CH672722A5 (fr) 1986-06-24 1986-06-24

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EP0250993A2 EP0250993A2 (fr) 1988-01-07
EP0250993A3 EP0250993A3 (en) 1988-11-02
EP0250993B1 true EP0250993B1 (fr) 1991-11-13

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EP87108531A Expired - Lifetime EP0250993B1 (fr) 1986-06-24 1987-06-12 Méthode et appareil pour déterminer et représenter la forme de dents (d'une dent ) taillée(s) en trois dimensions.

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US (1) US4837732A (fr)
EP (1) EP0250993B1 (fr)
JP (1) JP2654646B2 (fr)
AT (1) ATE69369T1 (fr)
CH (1) CH672722A5 (fr)
DE (1) DE3774499D1 (fr)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2635965A1 (fr) * 1988-09-02 1990-03-09 Kaltenbach & Voigt Sonde optique pour la mesure tridimensionnelle des dents dans la cavite buccale et procede de mise en oeuvre
WO1991003980A1 (fr) * 1989-09-22 1991-04-04 Peter Rohleder Dispositif pour l'exploration d'une region de la cavite buccale
GB2287598A (en) * 1994-03-17 1995-09-20 Roke Manor Research Video-based systems for computer assisted surgery and location
US5857853A (en) * 1993-07-26 1999-01-12 Nobel Biocare Ab Method of manufacturing a prosthesis to be fixed to implants in the jawbone of a patient, and a system for manufacturing such prostheses
DE19924291C1 (de) * 1999-05-27 2000-06-08 Sirona Dental Systems Gmbh Verfahren zur Erfassung und Darstellung eines oder mehrerer Objekte, bspw. Zähne
US6632089B2 (en) * 1999-11-30 2003-10-14 Orametrix, Inc. Orthodontic treatment planning with user-specified simulation of tooth movement
US6648640B2 (en) 1999-11-30 2003-11-18 Ora Metrix, Inc. Interactive orthodontic care system based on intra-oral scanning of teeth
EP2198780A2 (fr) 2008-12-19 2010-06-23 Sirona Dental Systems GmbH Méthode et dispositif pour la scanographie optique des objets tridimensionnels par l'intermédiaire d'une camera dentale 3D qui utilise une méthode de triangulation
DE102008054985A1 (de) 2008-12-19 2010-07-01 Sirona Dental Systems Gmbh Verfahren und Vorrichtung zur optischen Vermessung von dreidimensionalen Objekten mittels einer dentalen 3D-Kamera unter Verwendung eines Triangulationsverfahrens
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DE3774499D1 (de) 1991-12-19
US4837732A (en) 1989-06-06
EP0250993A3 (en) 1988-11-02
EP0250993A2 (fr) 1988-01-07
JP2654646B2 (ja) 1997-09-17
ATE69369T1 (de) 1991-11-15
JPS6323656A (ja) 1988-01-30

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